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   &#160;<span id="projectnumber">1.8.3</span>
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<a href="#func-members">函数</a>  </div>
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<p>SDK 的处理单元, 可以执行点云生成、格式转换等功能。  
<a href="#details">更多...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="ObTypes_8h_source.html">ObTypes.h</a>&quot;</code><br />
</div>
<p><a href="Filter_8h_source.html">浏览源代码.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:ab3a27dd97b86a8aa2f57038ad0d3dea9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#ab3a27dd97b86a8aa2f57038ad0d3dea9">ob_create_pointcloud_filter</a> (<a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ab3a27dd97b86a8aa2f57038ad0d3dea9"><td class="mdescLeft">&#160;</td><td class="mdescRight">创建 PointCloud Filter  <a href="#ab3a27dd97b86a8aa2f57038ad0d3dea9">更多...</a><br /></td></tr>
<tr class="separator:ab3a27dd97b86a8aa2f57038ad0d3dea9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d15730626989891136e7ee89e2cc411"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a9d15730626989891136e7ee89e2cc411">ob_pointcloud_filter_set_camera_param</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#ae5db514adf9ef2352c995122df7be0a6">ob_camera_param</a> param, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a9d15730626989891136e7ee89e2cc411"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置 PointCloud Filter 的相机参数。  <a href="#a9d15730626989891136e7ee89e2cc411">更多...</a><br /></td></tr>
<tr class="separator:a9d15730626989891136e7ee89e2cc411"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad36cacee113394f43bc3cec213ea0a42"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#ad36cacee113394f43bc3cec213ea0a42">ob_pointcloud_filter_set_point_format</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a2dd00351b3c3e24fba7b2e9d1bb033a8">ob_format</a> type, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ad36cacee113394f43bc3cec213ea0a42"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置 PointCloud Filter 的点云类型参数。  <a href="#ad36cacee113394f43bc3cec213ea0a42">更多...</a><br /></td></tr>
<tr class="separator:ad36cacee113394f43bc3cec213ea0a42"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41f921518de12fde5a1c194d7c09dea3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a41f921518de12fde5a1c194d7c09dea3">ob_pointcloud_filter_set_frame_align_state</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, bool state, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a41f921518de12fde5a1c194d7c09dea3"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置输入用于生成点云的帧的对齐状态。（已弃用）  <a href="#a41f921518de12fde5a1c194d7c09dea3">更多...</a><br /></td></tr>
<tr class="separator:a41f921518de12fde5a1c194d7c09dea3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25d2073ecb0d7e4a25a6e0cdf6da110b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a25d2073ecb0d7e4a25a6e0cdf6da110b">ob_pointcloud_filter_set_position_data_scale</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, float scale, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a25d2073ecb0d7e4a25a6e0cdf6da110b"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云数据缩放比例  <a href="#a25d2073ecb0d7e4a25a6e0cdf6da110b">更多...</a><br /></td></tr>
<tr class="separator:a25d2073ecb0d7e4a25a6e0cdf6da110b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64145ca451f2543b33cb5635c582f1ee"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a64145ca451f2543b33cb5635c582f1ee">ob_pointcloud_filter_set_color_data_normalization</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, bool state, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a64145ca451f2543b33cb5635c582f1ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云颜色数据归一化。  <a href="#a64145ca451f2543b33cb5635c582f1ee">更多...</a><br /></td></tr>
<tr class="separator:a64145ca451f2543b33cb5635c582f1ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e9807ef5a74eee149003f0811ef538d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a7e9807ef5a74eee149003f0811ef538d">ob_pointcloud_filter_set_coordinate_system</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a90e575f04de5a60d51a11a662ec7439d">ob_coordinate_system_type</a> type, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a7e9807ef5a74eee149003f0811ef538d"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云坐标系。  <a href="#a7e9807ef5a74eee149003f0811ef538d">更多...</a><br /></td></tr>
<tr class="separator:a7e9807ef5a74eee149003f0811ef538d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18aa340a13c52abad9b609a44390d0bd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a18aa340a13c52abad9b609a44390d0bd">ob_create_format_convert_filter</a> (<a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a18aa340a13c52abad9b609a44390d0bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">创建 FormatConvert Filter。  <a href="#a18aa340a13c52abad9b609a44390d0bd">更多...</a><br /></td></tr>
<tr class="separator:a18aa340a13c52abad9b609a44390d0bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecc354120b7fe24472eb52bbba770d4b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#aecc354120b7fe24472eb52bbba770d4b">ob_format_convert_filter_set_format</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a8ead334c9bd834a516cfd7a5532836b2">ob_convert_format</a> type, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:aecc354120b7fe24472eb52bbba770d4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置 FormatConvert Filter 的格式转换类型。  <a href="#aecc354120b7fe24472eb52bbba770d4b">更多...</a><br /></td></tr>
<tr class="separator:aecc354120b7fe24472eb52bbba770d4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5aa7094e4747e7faec9a1e2bec3681b0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a5aa7094e4747e7faec9a1e2bec3681b0">ob_create_compression_filter</a> (<a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a5aa7094e4747e7faec9a1e2bec3681b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">创建 compression Filter。  <a href="#a5aa7094e4747e7faec9a1e2bec3681b0">更多...</a><br /></td></tr>
<tr class="separator:a5aa7094e4747e7faec9a1e2bec3681b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae850d65f4334a0de5bc80d08111aae70"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#ae850d65f4334a0de5bc80d08111aae70">ob_compression_filter_set_compression_params</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#ad6da803dd947379980b5326054a103ce">ob_compression_mode</a> mode, void *params, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ae850d65f4334a0de5bc80d08111aae70"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置 compression Filter 的压缩参数  <a href="#ae850d65f4334a0de5bc80d08111aae70">更多...</a><br /></td></tr>
<tr class="separator:ae850d65f4334a0de5bc80d08111aae70"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86ce0cfa2c1ff95a75bd017c7fdd678f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a86ce0cfa2c1ff95a75bd017c7fdd678f">ob_create_decompression_filter</a> (<a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a86ce0cfa2c1ff95a75bd017c7fdd678f"><td class="mdescLeft">&#160;</td><td class="mdescRight">创建 decompressionr Filter  <a href="#a86ce0cfa2c1ff95a75bd017c7fdd678f">更多...</a><br /></td></tr>
<tr class="separator:a86ce0cfa2c1ff95a75bd017c7fdd678f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84c21cee66655eeab849ccfbc6bf5aef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a84c21cee66655eeab849ccfbc6bf5aef">ob_filter_reset</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a84c21cee66655eeab849ccfbc6bf5aef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filter 重置、清除缓存并重置状态。如果使用异步接口，处理线程也会被停止， 待处理的缓存帧将被清除。  <a href="#a84c21cee66655eeab849ccfbc6bf5aef">更多...</a><br /></td></tr>
<tr class="separator:a84c21cee66655eeab849ccfbc6bf5aef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afddf8d97e45db38c60fa7ebc8aea5c78"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#afddf8d97e45db38c60fa7ebc8aea5c78">ob_filter_process</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *frame, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:afddf8d97e45db38c60fa7ebc8aea5c78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filter 处理帧（同步接口）。  <a href="#afddf8d97e45db38c60fa7ebc8aea5c78">更多...</a><br /></td></tr>
<tr class="separator:afddf8d97e45db38c60fa7ebc8aea5c78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0592855be34027579a2b1099f015f9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#ad0592855be34027579a2b1099f015f9d">ob_filter_set_callback</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a82628fc9f7fe087c4ac31b0a8197ea34">ob_filter_callback</a> callback, void *user_data, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ad0592855be34027579a2b1099f015f9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置 filter 的处理结果回调函数（异步回调接口）  <a href="#ad0592855be34027579a2b1099f015f9d">更多...</a><br /></td></tr>
<tr class="separator:ad0592855be34027579a2b1099f015f9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac115614db4f0d3c25f8db91ee549169"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#aac115614db4f0d3c25f8db91ee549169">ob_filter_push_frame</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *frame, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:aac115614db4f0d3c25f8db91ee549169"><td class="mdescLeft">&#160;</td><td class="mdescRight">filter 压入 frame 到待处理缓存（异步回调接口）  <a href="#aac115614db4f0d3c25f8db91ee549169">更多...</a><br /></td></tr>
<tr class="separator:aac115614db4f0d3c25f8db91ee549169"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77a1ac123ecb1e3b8a0e280fbb2d2d06"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Filter_8h.html#a77a1ac123ecb1e3b8a0e280fbb2d2d06">ob_delete_filter</a> (<a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *filter, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a77a1ac123ecb1e3b8a0e280fbb2d2d06"><td class="mdescLeft">&#160;</td><td class="mdescRight">删除 Filter  <a href="#a77a1ac123ecb1e3b8a0e280fbb2d2d06">更多...</a><br /></td></tr>
<tr class="separator:a77a1ac123ecb1e3b8a0e280fbb2d2d06"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>SDK 的处理单元, 可以执行点云生成、格式转换等功能。 </p>

<p>在文件 <a class="el" href="Filter_8h_source.html">Filter.h</a> 中定义.</p>
</div><h2 class="groupheader">函数说明</h2>
<a class="anchor" id="ab3a27dd97b86a8aa2f57038ad0d3dea9"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a>* ob_create_pointcloud_filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>创建 PointCloud Filter </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息。</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointcloud_filter 对象。 </dd></dl>

</div>
</div>
<a class="anchor" id="a9d15730626989891136e7ee89e2cc411"></a>
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      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_camera_param </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#ae5db514adf9ef2352c995122df7be0a6">ob_camera_param</a>&#160;</td>
          <td class="paramname"><em>param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置 PointCloud Filter 的相机参数。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">param</td><td>相机参数。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="ad36cacee113394f43bc3cec213ea0a42"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_point_format </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2dd00351b3c3e24fba7b2e9d1bb033a8">ob_format</a>&#160;</td>
          <td class="paramname"><em>type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置 PointCloud Filter 的点云类型参数。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">type</td><td>点云类型：深度点云或 RGBD 点云。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a41f921518de12fde5a1c194d7c09dea3"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_frame_align_state </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置输入用于生成点云的帧的对齐状态。（已弃用） </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">state</td><td>对齐状态，True：对齐；False：未对齐。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a25d2073ecb0d7e4a25a6e0cdf6da110b"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_position_data_scale </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>scale</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云数据缩放比例 </p>
<dl class="section attention"><dt>注意</dt><dd>调用该函数设置缩放比例，会改变输出点云帧的点坐标缩放系数： posScale = posScale / scale。 输出点云帧的点坐标缩放系数可通过 <a class="el" href="Frame_8h.html#a42e33dafc2a310292a84bc4e59b624b3">ob_points_frame_get_position_value_scale</a> 函数获取</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>设置点云坐标数据缩放比例。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a64145ca451f2543b33cb5635c582f1ee"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_color_data_normalization </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云颜色数据归一化。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">state</td><td>设置点云颜色数据是否归一化。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a7e9807ef5a74eee149003f0811ef538d"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_pointcloud_filter_set_coordinate_system </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a90e575f04de5a60d51a11a662ec7439d">ob_coordinate_system_type</a>&#160;</td>
          <td class="paramname"><em>type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云坐标系。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>pointcloud_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">type</td><td>坐​​标系类型。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a18aa340a13c52abad9b609a44390d0bd"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a>* ob_create_format_convert_filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>创建 FormatConvert Filter。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>format_convert 对象。 </dd></dl>

</div>
</div>
<a class="anchor" id="aecc354120b7fe24472eb52bbba770d4b"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_format_convert_filter_set_format </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a8ead334c9bd834a516cfd7a5532836b2">ob_convert_format</a>&#160;</td>
          <td class="paramname"><em>type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置 FormatConvert Filter 的格式转换类型。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>FormatConvert_filter 对象。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">type</td><td>格式转换类型。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a5aa7094e4747e7faec9a1e2bec3681b0"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a>* ob_create_compression_filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>创建 compression Filter。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>compression_filter 对象。 </dd></dl>

</div>
</div>
<a class="anchor" id="ae850d65f4334a0de5bc80d08111aae70"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_compression_filter_set_compression_params </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#ad6da803dd947379980b5326054a103ce">ob_compression_mode</a>&#160;</td>
          <td class="paramname"><em>mode</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&#160;</td>
          <td class="paramname"><em>params</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置 compression Filter 的压缩参数 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>compression_filter 对象 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mode</td><td>压缩模式 OB_COMPRESSION_LOSSLESS 或 OB_COMPRESSION_LOSSY。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">params</td><td>压缩参数，结构体 ob_compression_params，当模式为 OB_COMPRESSION_LOSSLESS 时，params 为 NULL。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a86ce0cfa2c1ff95a75bd017c7fdd678f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a>* ob_create_decompression_filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>创建 decompressionr Filter </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>decompression Filter 对象。 </dd></dl>

</div>
</div>
<a class="anchor" id="a84c21cee66655eeab849ccfbc6bf5aef"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_filter_reset </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Filter 重置、清除缓存并重置状态。如果使用异步接口，处理线程也会被停止， 待处理的缓存帧将被清除。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>filter 对象。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="afddf8d97e45db38c60fa7ebc8aea5c78"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a>* ob_filter_process </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *&#160;</td>
          <td class="paramname"><em>frame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Filter 处理帧（同步接口）。 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>filter 对象 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>指向要处理的帧对象的指针 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>filter 处理后的 frame 对象。 </dd></dl>

</div>
</div>
<a class="anchor" id="ad0592855be34027579a2b1099f015f9d"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_filter_set_callback </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a82628fc9f7fe087c4ac31b0a8197ea34">ob_filter_callback</a>&#160;</td>
          <td class="paramname"><em>callback</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&#160;</td>
          <td class="paramname"><em>user_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置 filter 的处理结果回调函数（异步回调接口） </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>filter 对象 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">callback</td><td>回调函数。 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">user_data</td><td>可以传入任意用户数据指针并从回调中返回。 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="aac115614db4f0d3c25f8db91ee549169"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_filter_push_frame </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *&#160;</td>
          <td class="paramname"><em>frame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>filter 压入 frame 到待处理缓存（异步回调接口） </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>filter 对象 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>指向要处理的帧对象的指针 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a77a1ac123ecb1e3b8a0e280fbb2d2d06"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob_delete_filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aaa2a036e7bbf09bceb92f220395a09ea">ob_filter</a> *&#160;</td>
          <td class="paramname"><em>filter</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>删除 Filter </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">filter</td><td>filter 对象 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>记录错误信息 </td></tr>
  </table>
  </dd>
</dl>

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